void SPI2_InitDriver(void)
{
    uint16 dir = SPI_Direction_2Lines_FullDuplex;
    uint16 mode = SPI_Mode_Master;
    uint16 datasz = SPI_DataSize_8b;
    uint16 cpol = SPI_CPOL_High;
    uint16 cpha = SPI_CPHA_2Edge;
    uint16 nss = SPI_NSS_Soft;
    uint16 baudrate = SPI_BaudRatePrescaler_8;
    uint16 firstb = SPI_FirstBit_MSB;
    uint16 polynominal = 7;

    SPI_InitTypeDef  t_spi;
    GPIO_InitTypeDef t_gpio;
    sSPI_BUS         spi2;

    spi2.pSPIx = SPI2;
    spi2.pGPIO = SPI2_PORT;
    spi2.NSS   = SPI2_NSS;
    spi2.SCK   = SPI2_SCK;
    spi2.MISO  = SPI2_MISO;
    spi2.MOSI  = SPI2_MOSI;

    DebugPrintf("");

    t_gpio.GPIO_Pin   = spi2.MOSI | spi2.MISO | spi2.SCK;
    t_gpio.GPIO_Speed = GPIO_Speed_50MHz;
    t_gpio.GPIO_Mode  = GPIO_Mode_AF_PP;
    GPIO_Init(spi2.pGPIO, &t_gpio);

    t_gpio.GPIO_Pin   = spi2.NSS;
    t_gpio.GPIO_Speed = GPIO_Speed_50MHz;
    t_gpio.GPIO_Mode  = GPIO_Mode_Out_PP;

    GPIO_Init(spi2.pGPIO, &t_gpio);

    SPI_I2S_DeInit(spi2.pSPIx);
   
    // Configure SPI
    t_spi.SPI_Direction         = dir;
    t_spi.SPI_Mode              = mode;
    t_spi.SPI_DataSize          = datasz;
    t_spi.SPI_CPOL              = cpol;
    t_spi.SPI_CPHA              = cpha;
    t_spi.SPI_NSS               = nss;
    t_spi.SPI_BaudRatePrescaler = baudrate;
    t_spi.SPI_FirstBit          = firstb;
    t_spi.SPI_CRCPolynomial     = polynominal;

    SPI_Init(spi2.pSPIx, &t_spi);
    SPI_COM2_DISABLE();
} /* SPI_InitDriver */

void SPI3_InitDriver(void)
{
    uint16 dir = SPI_Direction_2Lines_FullDuplex;
    uint16 mode = SPI_Mode_Master;
    uint16 datasz = SPI_DataSize_8b;
    uint16 cpol = SPI_CPOL_High;
    uint16 cpha = SPI_CPHA_2Edge;
    uint16 nss = SPI_NSS_Soft;
    uint16 baudrate = SPI_BaudRatePrescaler_8;
    uint16 firstb = SPI_FirstBit_MSB;
    uint16 polynominal = 7;

    SPI_InitTypeDef  t_spi;
    GPIO_InitTypeDef t_gpio;
    sSPI_BUS         spi3;

    spi3.pSPIx = SPI3;
    spi3.pGPIO = SPI3_PORT;
    spi3.NSS   = SPI3_NSS;
    spi3.SCK   = SPI3_SCK;
    spi3.MISO  = SPI3_MISO;
    spi3.MOSI  = SPI3_MOSI;

    t_gpio.GPIO_Pin   = spi3.MOSI | spi3.MISO | spi3.SCK;
    t_gpio.GPIO_Speed = GPIO_Speed_50MHz;
    t_gpio.GPIO_Mode  = GPIO_Mode_AF_PP;
    GPIO_Init(spi3.pGPIO, &t_gpio);

    t_gpio.GPIO_Pin   = spi3.NSS;
    t_gpio.GPIO_Speed = GPIO_Speed_50MHz;
    t_gpio.GPIO_Mode  = GPIO_Mode_Out_PP;

    GPIO_Init(spi3.pGPIO, &t_gpio);

    SPI_I2S_DeInit(spi3.pSPIx);

    // Configure SPI
    t_spi.SPI_Direction         = dir;
    t_spi.SPI_Mode              = mode;
    t_spi.SPI_DataSize          = datasz;
    t_spi.SPI_CPOL              = cpol;
    t_spi.SPI_CPHA              = cpha;
    t_spi.SPI_NSS               = nss;
    t_spi.SPI_BaudRatePrescaler = baudrate;
    t_spi.SPI_FirstBit          = firstb;
    t_spi.SPI_CRCPolynomial     = polynominal;

    SPI_Init(spi3.pSPIx, &t_spi);
    SPI_COM3_DISABLE();
} /* SPI_InitDriver */

/*************************************************************************************************************
**************************************************************************************************************
* GLOBAL FUNCTIONS
**************************************************************************************************************
*************************************************************************************************************/
/*********************************************************************************************************//**
* @retval None
* @brief Initialize the SPI device driver.
*************************************************************************************************************/

/*********************************************************************************************************//**
* @param[in] comn : SPI channel
*            txb : Data to be transmit
* @retval None
* @brief Transmit data in SPI master mode.
*************************************************************************************************************/


// ************************************ SPI2 ************************************//
void TMC5xxx_WriteRegister(uint08 rega, uint32 regd)
{
    uint08  cmdw;

    SPI2_NSS_LOW();
    asm("nop");
    asm("nop");
    cmdw = rega | 0x80;
    Tmc_ByteWrite(cmdw);
    asm("nop");

    Tmc_ByteWrite(((regd>>24)&0xFF));        // Word data3
    asm("nop");
    Tmc_ByteWrite(((regd>>16)&0xFF));        // Word data2
    asm("nop");
    Tmc_ByteWrite(((regd>>8)&0xFF));         // Word data1
    asm("nop");
    Tmc_ByteWrite(((regd)&0xFF));            // Word data0
    asm("nop");

    asm("nop");
    SPI2_NSS_HIGH();
    asm("nop");
    asm("nop");

} /* WriteRegister */

uint32 TMC5xxx_ReadRegister(uint08 rega)
{
    uint32 rdata;
    uint08 i, rxData[5];    //addr,

    SPI2_NSS_LOW();
    asm("nop");

    Tmc_ByteWrite(rega);
    for (i=0; i<4; i++)
    {
        rxData[i] = Tmc_ByteWrite(0x00);
        asm("nop");

    }

    asm("nop");
    SPI2_NSS_HIGH();

    asm("nop");
    asm("nop");

    SPI2_NSS_LOW();
    asm("nop");

    Tmc_ByteWrite(rega);
    for (i=0; i<4; i++)
    {
        rxData[i] = Tmc_ByteWrite(0x00);

    }
    asm("nop");
    SPI2_NSS_HIGH();
    rdata = (rxData[0]<<24)|(rxData[1]<<16)|(rxData[2]<<8)|(rxData[3]);

    return rdata;
}

uint8_t Tmc_ByteWrite(uint8_t wData)
{
    unsigned char read_data = 0;
    while (!(SPI2->SR & SPI_I2S_FLAG_TXE));
    SPI2->DR = wData;

    while (!(SPI2->SR & SPI_I2S_FLAG_RXNE));
    while ((SPI2->SR & SPI_I2S_FLAG_BSY));
    read_data = SPI2->DR;

    return read_data;
}

// ************************************ SPI3 ************************************//
void TMC5xxx_WriteRegister_1(uint08 rega, uint32 regd)
{
    uint08  cmdw;
    SPI3_NSS_LOW();
    asm("nop");
    asm("nop");
    cmdw = rega | 0x80;
    Tmc_ByteWrite_1(cmdw);
    asm("nop");
    Tmc_ByteWrite_1(((regd>>24)&0xFF));        // Word data3
    asm("nop");
    Tmc_ByteWrite_1(((regd>>16)&0xFF));        // Word data2
    asm("nop");
    Tmc_ByteWrite_1(((regd>>8)&0xFF));         // Word data1
    asm("nop");
    Tmc_ByteWrite_1(((regd)&0xFF));            // Word data0
    asm("nop");
    asm("nop");
    SPI3_NSS_HIGH();
    asm("nop");
    asm("nop");
} /* WriteRegister */

uint32 TMC5xxx_ReadRegister_1(uint08 rega)
{
    uint32 rdata;
    uint08 i, rxData[5];    //addr,

    SPI3_NSS_LOW();
    asm("nop");

    Tmc_ByteWrite_1(rega);
    for (i=0; i<4; i++)
    {
        rxData[i] = Tmc_ByteWrite_1(0x00);
        asm("nop");
    }

    asm("nop");
    SPI3_NSS_HIGH();
    asm("nop");
    asm("nop");
    SPI3_NSS_LOW();
    asm("nop");

    Tmc_ByteWrite_1(rega);
    for (i=0; i<4; i++)
    {
        rxData[i] = Tmc_ByteWrite_1(0x00);
    }
    asm("nop");
    SPI3_NSS_HIGH();
    rdata = (rxData[0]<<24)|(rxData[1]<<16)|(rxData[2]<<8)|(rxData[3]);

    return rdata;
}

uint8_t Tmc_ByteWrite_1(uint8_t wData)
{
    unsigned char read_data = 0;
    while (!(SPI3->SR & SPI_I2S_FLAG_TXE));
    SPI3->DR = wData;

    while (!(SPI3->SR & SPI_I2S_FLAG_RXNE));
    while ((SPI3->SR & SPI_I2S_FLAG_BSY));
    read_data = SPI3->DR;
    return read_data;
}